In this section we formulate trajectory generation as a Deep RL problem endowed with a high level action space. Trajectory generation is often formulated as an optimal control problem and then converted into a parameter optimization problem through direct transcription methods [1]}, [2]}. This produces a problem formulation that is compatible with modern nonlinear programming techniques [3]}. For many problems this method works well [2]}, [5]}, but long solution times and convergence stability can limit real-time application.
